/*
 *
 * Copyright (C) 2014
 * Julio Jarquin, Gustavo Arechavaleta <garechav@cinvestav.edu.mx>
 * CINVESTAV - Saltillo Campus
 *
 * This file is part of HRLocomotion-1.0
 * HRLocomotion-1.0 free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * HRLocomotion-1.0 is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
 * 02110-1301  USA
 */

/**
 *	\file src/robot_state.h
 *	\author Julio Jarquin, Gustavo Arechavaleta
 *	\version 1.0
 *	\date 2015
 *
 *	Declaration of the RobotState class designed to manage the robot minimal state.
 */
#ifndef HR_LOCOMOTION_STATE_H
#define HR_LOCOMOTION_STATE_H
#include "hr_types.h"
#include <iostream>

namespace hrLocomotion{
class RobotStateDep
{
public:
    RobotStateDep();
    void init();
    void init(VectorXr, VectorXr);
    void init(VectorXr, VectorXr, VectorXr);
    void setAugmentedState();
    VectorXr getAugmentedState();

    RobotStateDep(const RobotStateDep &);

    RobotStateDep& operator=(const RobotStateDep &);
    friend std::ostream& operator<< (std::ostream& os, const RobotStateDep&);


private:
    VectorXr x_k;
    VectorXr y_k;
    VectorXr theta_k;
    VectorXr augState;
};

}
#endif // HR_LOCOMOTION_STATE_H
